Guidance Directrix Generation Using Laser Sensors

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Pitla, Santosh; Luck, Joe D; Shearer, Scott A.
Automated Guidance; RTK-GPS; Cut-Crop Edge; Agricultural Combines; Forage HarvestingIntroduction
article description
A sensor array consisting of two laser sensors was utilized to determine the guidance directrix (offset distance-d, heading angle-ø) that are required as reference inputs for an automated guidance system. The sensor array was evaluated in both laboratory and field conditions. Under laboratory conditions the sensor array replicated the physical profile of the target surface with a 4% error in determining the heading angle. Field tests were conducted in two types of crops; corn and alfalfa. The sensor array identified the cut-crop edge profile ahead of the tractor and replicated distinct shapes of the cut-crop edge. RMSE values in determining the offset distances and heading angles of the cut-crop edge in corn were within 5.5 cm and 4.390. In the case of alfalfa cut-crop edge the RMSE values were within 6.6 cm and 4.320.